Position recognition device and position recognition method, and accounting processor and accounting processing method

ABSTRACT

A position recognition device for deciding a zone where a moving object takes a position. The device comprises: a travel distance decider for deciding whether or not the moving object has traveled a predetermined distance corresponding to the detection error of the position of the moving object; and a zone decider for deciding the zone where the moving object takes a position, if the travel distance decider decides that the moving object has traveled the predetermined distance. According to the invention, therefore, “the decision of the zone where the moving object exists” is not made, in case the position of the moving object cannot be precisely detected. Therefore, the precision in the decision of the zone where the moving object exists is improved, and it is unnecessary to set a buffer zone that “the decision of the zone where the moving object exists is not made if the moving object takes a position in the neighborhood” as the reference for deciding the existing zone of the moving object. Without the necessity for setting the buffer zone, therefore, it is possible to reduce the quantities of data and operations and to suppress the rise in the cost for manufacturing the position recognition device. Within the travel distance for a possible error in the detection of the position of the moving object, moreover, it is unnecessary to detect the position of the moving object. Therefore, it is sufficient to acquire discrete pieces of positional information so as to be the position recognition device. It is, therefore, possible to promote the reduction in the size of the position recognition device and to suppress the rise in the cost for manufacturing the position recognition device.

TECHNICAL FIELD

The present invention relates to a position recognition device fordeciding a zone where a moving object takes a position and, moreparticularly, to a position recognition device to be used, i.e., in caseaccounting information is generated as the moving object moves.

BACKGROUND ART

Generally in case a vehicle as the moving object passes through a tollroad, there is made the so-called “accounting process”, in which thevehicle is charged with a toll according to its type or covereddistance. In this accounting processing case, facilities such as gatesor tollbooths were conventionally provided at the entrances and exits ofthe toll road. If the method of providing such facilities is adopted,however, there arise problems that the works to dispose or transfer thefacilities themselves are troublesome, and that the landscapes andspectacles around the road are deteriorated by the facilities. Thus,there has been known a device, which can make the aforementionedaccounting process without disposing the aforementioned facilities onthe road. One example of the device is described in Japanese PatentLaid-Open No. 2000-123213.

This accounting processor described in the Laid-Open is provided with aon-vehicle unit mounted on a vehicle, and an external information unitdisposed outside of the vehicle. The on-vehicle unit constructs aportion of the so-called “navigation system” and is provided with anelectronic control unit. Moreover, this electronic control unit isconstructed of a microcomputer, which is composed mainly of a processor,a storage unit and an input/output interface. With the electroniccontrol unit, there are connected a map database, an input unit, a GPS(i.e., the capitals of Global Positioning System) antenna, and a groundcommunication unit. This map database is stored with the information onthe roads of the map, the information on the accounting zones in theroads and so on. On the other hand, the display unit is provided foroperations to input the present position and the destination of thevehicle, or the travel route of the vehicle. Moreover, the display unitindicates the present position of the vehicle in the map data. Moreover,the GPS antenna is provided for receiving signals transmitted fromartificial satellites. Still moreover, the ground communication unit isprovided for communicating with an integrated center placed on theground.

The external information unit is constructed to include the artificialsatellites and the integrated center. This integrated center is providedwith a ground communication unit for communicating with the groundcommunication unit of the on-vehicle unit, a map database stored withmap data determining the accounted zones and the tolls, and anelectronic control unit connected with the ground communication unit andthe map database.

In the accounting processor described in the aforementioned Laid-Open,the position of the vehicle in the map data is detected by receiving thesignals transmitted from the artificial satellites through the GPSantenna of the on-vehicle unit and by processing the received signals.On the basis of the detection result of the position of the vehicle,moreover, it is decided whether the vehicle is positioned in theaccounting zone or in the unaccounting zone. Moreover, the positioninformation of the vehicle is transmitted through the groundcommunication unit of the on-vehicle device to the integrated center. Onthe basis of the received position of the vehicle, the integrated centermakes an accounting process based on the accounting zone and transmitsthe process result to the on-vehicle unit.

Here in the detection of the position of the vehicle by the artificialsatellites and the GPS antenna, a detection error is inevitably causedby the arrayed state of the artificial satellites. Thus, there arises aproblem that an erroneous accounting is generated by collating thedetection result containing an error and the accounted zone of the mapdata. In the accounting processor described in the Laid-Open, therefore,a buffer zone is set between an accounted zone and an unaccounted zoneof the map data. This buffer zone is set on the basis of a distancecorresponding to the detection error of the position of the vehicle.Moreover, the accounting processor is constructed such that the decisionthat “the vehicle exists in the accounting zone” is not made in case itis decided that the position of the vehicle is in the buffer zone. Bythus setting the buffer zone, an erroneous decision on which of theaccounting zone or the unaccounting zone the vehicle takes a position isprevented from being made on the basis of the position detectingprecision of the vehicle.

In the accounting device described in the aforementioned Laid-Open,however, the error of the position detection of the vehicle is copedwith setting the buffer zone between the accounting zone and theunaccounting zone. Therefore, the quantity of data necessary for theaccounting process increases, and the operations necessary for theaccounting process are complicated. As a result, problems are that thecost for the accounting device rises, and that the time period forprocessing the data necessary for the accounting becomes long.

A main object of the invention is to provide a position recognitiondevice, a position recognition method, and an accounting processor andan accounting processing method, which can decide it highly preciselywhether or not a moving object has moved from a predetermined zone toanother, which can suppress the rise in the manufacture cost, and whichcan prevent the time period necessary for the data processing frombecoming long.

DISCLOSURE OF THE INVENTION

In order to achieve the aforementioned object, according to theinvention, there is provided a position recognition device for decidinga zone where a moving object takes a position, characterized bycomprising: a traveled distance decider for deciding whether or not saidmoving object has traveled a predetermined distance corresponding to thedetection error of the position of said moving object; and a zonedecider for deciding the zone where said moving object takes a position,if said traveled distance decider decides that said moving object hastraveled said predetermined distance.

According to the invention, therefore, “the decision on what zone themoving object exists in” is not made, within the traveled distance inwhich the position detection of the moving object possibly be erroneous.Therefore, the precision in the decision on what zone the moving objectexists in is improved, and it is unnecessary to set the buffer zone that“the decision on what zone the moving object exists in is not made incase the moving object is detected as taking its position in theneighborhood” as the reference for deciding the existing zone of themoving object. Without the necessity for the buffer zone to be set,therefore, it is possible to reduce the quantities of data andoperations and to suppress the rise in the cost for manufacturing theposition recognition device. Within the travel distance for a possibleerror in the detection of the position of the moving object, moreover,it is unnecessary to detect the position of the moving object.Therefore, it is sufficient to acquire discrete pieces of positionalinformation so as to be the position recognition device. It is,therefore, possible to promote the reduction in the size of the positionrecognition device and to suppress the rise in the cost formanufacturing the position recognition device.

In the device of the invention, moreover, said traveled distance deciderand said zone decider may be mounted on said moving object.

In the position recognition device of the invention, therefore, “themoving object can decide the zone where the moving object exists, byreceiving neither information nor data from the outside thereof”.According to the invention, moreover, there is provided an accountingprocessor for deciding a zone where a moving object takes a position,thereby to generate accounting information on the basis of the decisionresult, characterized by comprising: a traveled distance decider fordeciding whether or not said moving object has covered a predetermineddistance affecting the precision in said accounting information; and anaccounting information generator for deciding the zone where said movingobject takes a position, if said travel distance decider decides thatsaid moving object has traveled said predetermined distance, and forgenerating accounting information based on the decision result.

According to the invention, therefore, the zone where the moving objectexists is not decided within the travel distance affecting the precisionof the accounting information. Therefore, it is unnecessary to set theaforementioned buffer zone as the reference for deciding the existingzone of the moving object, so that the precision for deciding what zonethe moving object exists in can be improved. Moreover, the zone in whichthe moving object exists is not decided within the travel distance, atwhich the precision of the accounting information is affected by themovement of the moving object. Therefore, the positions of the movingobject need not be detected one by one so that a device for acquiringdiscrete pieces of positional information can be used as the device fordetecting the position of the moving object. As a result, it is possibleto promote the size reduction of the accounting processor and tosuppress the rise in the cost for manufacturing the accountingprocessor.

In the device of the invention, moreover, said travel distance decidermay be constructed to decide said predetermined distance in terms of arectilinear distance.

According to the device of the invention, therefore, the predetermineddistance is decided in terms of the rectilinear distance so that thedistance traveled by the moving object is no more than the actualcovered distance. Therefore, it is possible to avoid the possibility ofoccurrence of the excessive accounting.

In the device of the invention, moreover, said accounting informationgenerator may be constructed to compare a travel locus, which isdetected by the time said moving object has traveled the predetermineddistance, and choices of travel routes existing in the map informationproviding the reference for deciding the position of said moving object,thereby to decide that said moving object has traveled such one of thechoice covered routes existing in said map information as to minimizethe travel distance of the moving object.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled such one of the choice of travel routesexisting in the map information as to minimize the travel distance ofthe moving object. In other words, “the travel distance of the movingobject” decided by the accounting information generator is no more thanthe actual travel distance so that the excessive accounting cannotoccur. Moreover, the detection result of the travel locus of the movingobject and the choices of the travel route existing in the mapinformation are compared to improve the decision precision of the zonewhere the moving object exists.

In the device of the invention, moreover, said accounting informationgenerator may be constructed to compare a travel locus, which isdetected by the time said moving object has traveled the predetermineddistance, and the configurations of choices of travel routes existing inthe map information providing the reference for deciding the position ofsaid moving object, thereby to decide what of the choices existing insaid map information said moving object has traveled, on the basis ofsaid comparison result.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled such one of the choice of travel routesexisting in the map information as has a configuration similar to thetravel locus detected. Therefore, the travel route of the moving objectand the actual travel route can be brought close to each other therebyto reduce the possibility of occurrence of the excessive accounting.Moreover, the travel locus of the moving object and the travel route ofthe map information are collated to improve the decision precision ofthe zone where the moving object exists.

In the device of the invention, moreover, said accounting informationgenerator may be constructed to decide that said moving object hastraveled the travel route which minimizes the accounting resulting fromthe movement of said moving object.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled the travel route which minimizes theaccounting resulting from the movement of the moving object, thereby toreduce the possibility of occurrence of the excessive accountingfurthermore.

In the device of the invention, moreover, said accounting informationgenerator may be constructed not to perform the accounting resultingfrom the movement of said moving object, if said travel distance deciderdecides that the travel distance of said moving object is no more thanthe predetermined distance.

According to the device of the invention, therefore, in case it isdecided that the moving object has not traveled the predetermineddistance from the reference position, the accounting resulting from themovement of the moving object is not made so that the erroneousaccounting can be prevented from occurring.

In the device of the invention, moreover, said travel distance deciderand said accounting information generator may be mounted on said movingobject.

According to the device of the invention, therefore, the moving objectcan make the accounting by using not a device disposed its outside butthe travel distance decider and the accounting information generatormounted thereon.

According to the invention, moreover, there is provided a positionrecognition device for deciding a zone where a moving object takes aposition, characterized by comprising a controller for executing: acontrol to decide whether or not said moving object has traveled apredetermined distance corresponding to the detection error of theposition of said moving object; and a control to decide the zone wheresaid moving object takes a position, if the moving object is decided ashas traveled said predetermined distance.

According to the invention, therefore, “the decision on what zone themoving object exists in” is not made, within the travel range in whichthe position detection of the moving object possibly be erroneous.Therefore, the precision in the decision on what zone the moving objectexists in is improved, and it is unnecessary to set the buffer zone that“the decision on what zone the moving object exists in is not made incase the moving object takes a position in the neighborhood” as thereference for deciding the existing zone of the moving object. Withoutthe necessity for the buffer zone, therefore, it is possible to reducethe quantities of data and operations and to suppress the rise in thecost for manufacturing the position recognition device. Within thetravel distance for a probable error in the detection of the position ofthe moving object, moreover, it is unnecessary to detect the position ofthe moving object. Therefore, it is sufficient to acquire discretepositional information so as to be the position recognition device. Itis, therefore, possible to promote the reduction in the size of theposition recognition device and to suppress the rise in the cost formanufacturing the position recognition device.

In the device of the invention, moreover, said controller may be mountedon said moving object.

In the position recognition device of the invention, therefore, themoving object can decide the zone where the moving object exists,without using an outside device.

According to the invention, moreover, there is provided an accountingdevice for deciding a zone where a moving object takes a position,thereby to generate accounting information on the basis of the decisionresult, characterized by comprising a controller for executing: acontrol to decide whether or not said moving object has traveled apredetermined distance affecting the precision in said accountinginformation; and a control to decide the zone where said moving objecttakes a position, if it is decided that said moving object has traveledsaid predetermined distance, and to generate accounting informationbased on the decision result.

According to the invention, therefore, the zone where the moving objectexists is not decided in case of the travel distance of the movingobject is within the travel distance affecting the precision of theaccounting information. Therefore, the precision in the decision on whatzone the moving object exists in can be improved without providing thebuffer zone between the predetermined zone and another zone forpreventing the erroneous accounting. Moreover, the zone in which themoving object exists is not decided within the travel distance, at whichthe precision of the accounting information is affected by the movementof the moving object. Therefore, the positions of the moving object neednot be finely analyzed, and in other words, need not to be detected inreal time by the minute so that a device for acquiring discrete piecesof positional information can be used as the device for detecting theposition of the moving object. As a result, it is possible to promotethe size reduction of the accounting device and to suppress the rise inthe cost for manufacturing the accounting device.

In the device of the invention, moreover, said controller may beconstructed to decide said predetermined distance in terms of arectilinear distance.

According to the device of the invention, therefore, the predetermineddistance is decided in terms of the rectilinear distance so that thedistance traveled by the moving object is no more than the actual traveldistance. Therefore, it is possible to avoid the possibility ofoccurrence of the excessive accounting.

In the device of the invention, moreover, said controller may beconstructed to compare a travel locus, which is detected by the timesaid moving object has traveled the predetermined distance, and choicesof travel routes existing in the map information providing the referencefor deciding the position of said moving object, thereby to decide thatsaid moving object has traveled such one of the choice of travel routesexisting in said map information as to minimize the travel distance ofthe moving object.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled such one of the choice of travel routesexisting in the map information as to minimize the travel distance ofthe moving object. In other words, “the travel distance of the movingobject” decided by the controller is no more than the actual traveldistance so that the possibility of the excessive accounting drops.Moreover, the detection result of the travel locus of the moving objectand the choices of the travel route existing in the map information arecompared to improve the decision precision of the zone where the movingobject exists.

According to the device of the invention, moreover, said controller maybe constructed to compare a travel locus, which is detected by the timesaid moving object has traveled the predetermined distance, and theconfigurations of choices of travel routes existing in the mapinformation providing the reference for deciding the position of saidmoving object, thereby to decide what of the choices existing in saidmap information said moving object has traveled, on the basis of saidcomparison result.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled such one of the choice of travel routesexisting in the map information as has a configuration similar to thetravel locus detected. Therefore, the travel route of the moving objectand the actual travel route can be brought close to each other therebyto reduce the possibility of occurrence of the excessive accounting.Moreover, the travel locus of the moving object and the configuration oftravel route of the map information are collated to improve the decisionprecision of the zone where the moving object exists.

According to the device of the invention, moreover, said controller maybe constructed to decide that said moving object has traveled the travelroute which minimizes the accounting resulting from the movement of saidmoving object.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled the travel route which minimizes theaccounting resulting from the movement of the moving object, thereby toreduce the possibility of occurrence of the excessive accountingfurthermore.

According to the device of the invention, moreover, said controller maybe constructed not to perform the accounting process resulting from themovement of said moving object, if it is decided that the traveldistance of said moving object is no more than the predetermineddistance.

According to the device of the invention, therefore, in case it isdecided that the moving object has not traveled the predetermineddistance from the reference position, the accounting process resultingfrom the movement of the moving object is not made so that the erroneousaccounting can be prevented from occurring.

According to the device of the invention, moreover, said controller maybe mounted on said moving object.

According to the device of the invention, therefore, the moving objectcan make the accounting process only by the system mounted on the movingobject while receiving neither information nor data from the outside ofthe moving object.

According to the invention, moreover, there is provided a positionrecognition method for deciding a zone where a moving object takes aposition, characterized by comprising: a traveled distance decision stepof deciding whether or not said moving object has traveled apredetermined distance corresponding to the detection error of theposition of said moving object; and a zone decision step of deciding thezone where said moving object takes a position, if it is decided thatsaid moving object has traveled said predetermined distance.

According to the invention, therefore, the decision on what zone themoving object exists in is not made, within the travel range in whichthe position detection of the moving object can be erroneous. Therefore,the precision in the decision on what zone the moving object exists incan be improved, and it is unnecessary to provide the so-called “bufferzone” where “the decision on what zone the moving object exists in” isnot made, near the boundary of the zones in the reference data fordeciding the existing zone of the moving object. Therefore, it ispossible to reduce the quantities of data and operations necessary fordeciding the existence of the moving object. Within the travel distancefor a probable error in the detection of the position of the movingobject, moreover, it is unnecessary to detect the position of the movingobject.

According to the invention, moreover, there is provided an accountingprocessing method for deciding a zone where a moving object takes aposition, thereby to generate accounting information on the basis of thedecision result, characterized by comprising: a travel distance decisionstep of deciding whether or not said moving object has traveled apredetermined distance affecting the precision in said accountinginformation; and an accounting information generation step of decidingthe zone where said moving object takes a position, if it is decidedthat said moving object has traveled said predetermined distance, andgenerating accounting information based on the decision result.

According to the invention, therefore, the zone where the moving objecttakes a position is not decided within the travel distance which thetravel distance of the moving object affects the precision of theaccounting information. Therefore, the precision for recognizing whatzone the moving object takes a position can be improved withoutproviding the buffer zone for preventing the erroneous accounting,between the predetermined zone and another. Moreover, the zone in whichthe moving object exists is not decided within the travel distance, atwhich the precision of the accounting information is affected by themovement of the moving object. Therefore, the position of the movingobject need not be detected within the travel distance affecting theprecision of the accounting information by the movement of the movingobject, but the detection of the position of the moving object may bediscretely made.

In the method of the invention, moreover, said predetermined distancedecision step may be constructed to decide said predetermined distancein terms of a rectilinear distance.

According to the device of the invention, therefore, the predetermineddistance is decided in terms of the rectilinear distance so that thedistance traveled by the moving object is no more than the actual traveldistance. Therefore, it is possible to avoid the possibility ofoccurrence of the excessive accounting.

In the method of the invention, moreover, said accounting informationgeneration step may be constructed to compare a travel locus, which isdetected by the time said moving object has traveled the predetermineddistance, and choices of travel routes existing in the map informationproviding the reference for deciding the position of said moving object,thereby to decide that said moving object has traveled such one of thechoice of travel routes existing in said map information as to minimizethe travel distance of the moving object.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled such one of the choice of travel routesexisting in the map information as to minimize the travel distance ofthe moving object. In other words, “the travel distance of the movingobject” decided by the travel distance decision step is no more than theactual travel distance so that the possibility of the excessiveaccounting drops. Moreover, the detection result of the travel locus ofthe moving object and the choices of the travel route existing in themap information are compared to improve the decision precision of thezone where the moving object exists.

In the method of the invention, moreover, said accounting informationgeneration step may be constructed to compare a travel locus, which isdetected by the time said moving object has traveled the predetermineddistance, and the configurations of choices of travel routes existing inthe map information providing the reference for deciding the position ofsaid moving object, thereby to decide what of the candidates existing insaid map information said moving object has traveled, on the basis ofsaid comparison result.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled such one of the choice of travel routesexisting in the map information as has a shape similar to the travellocus detected. Therefore, the travel route of the moving object and theactual travel route can be brought close to each other thereby to reducethe possibility of occurrence of the excessive accounting. Moreover, thetravel locus of the moving object and the configuration of the travelroute of the map information are collated to improve the decisionprecision of the zone where the moving object takes a position.

In the method of the invention, moreover, said accounting informationgeneration step may be constructed to decide that said moving object hastraveled the travel route which minimizes the accounting resulting fromthe movement of said moving object.

According to the device of the invention, therefore, it is decided thatthe moving object has traveled the travel route that minimizes theaccounting resulting from the movement of the moving object, thereby toreduce the possibility of occurrence of the excessive accountingfurthermore.

In the method of the invention, moreover, said accounting informationgeneration step may be constructed not to perform the accounting processresulting from the movement of said moving object, if said traveldistance decider decides that the travel distance of said moving objectis no more than the predetermined distance.

According to the device of the invention, therefore, in case it isdecided that the moving object has not traveled the predetermineddistance from the reference position, the accounting process resultingfrom the movement of the moving object is not made so that the erroneousaccounting can be prevented from occurring.

According to the invention, there is provided a moving object positionrecognition device for deciding a zone where a moving object takes aposition, characterized by comprising: travel distance decision meansfor deciding whether or not said moving object has traveled apredetermined distance corresponding to the detection error of theposition of said moving object; and zone decision means for deciding thezone where said moving object takes a position, if said travel distancedecision means decides that said moving object has traveled saidpredetermined distance.

According to the device of the invention, therefore, “the decision onwhat zone the moving object exists in” is not made, within the travelrange in which the position detection of the moving object possibly beerroneous. Therefore, the precision in the recognition on what zone themoving object exists in can be improved, and the buffer zone need not beprovided between the zones so that the data capacity and the operationscan be simplified and reduced to lower the cost for the system. Withinthe travel distance for a probable error in the detection of theposition of the moving object, moreover, it is unnecessary to detect andanalyze the position of the moving object finely by minute, and thedevice for detecting the position of the moving object may acquire thediscrete pieces of positional information. It is, therefore, possible topromote the reduction in the size of the device to be mounted on themoving object, and to reduce the cost for mounting the devicedrastically.

According to the invention, moreover, there is provided a moving objectposition recognition device for deciding a zone where a moving objecttakes a position, thereby to generate accounting information on thebasis of the decision result, characterized by comprising: traveldistance decision means for deciding whether or not said moving objecthas traveled a predetermined distance affecting the precision in saidaccounting information; and accounting information generation means fordeciding the zone where said moving object takes a position, if saidtravel distance decision means decides that said moving object hastraveled said predetermined distance, and for generating accountinginformation based on the decision result.

According to the device of the invention, therefore, the precision forrecognizing what zone the moving object takes a position can be improvedwithout providing the buffer zone for preventing the erroneousaccounting. Therefore, the precision in the decision on what zone themoving object exists in can be improved, and the buffer zone need not beprovided so that the data capacity and the operations can be simplifiedand reduced to lower the cost for the device. Within the travel distanceaffecting the precision of the accounting information by the movement ofthe moving object, moreover, it is not decided what zone the movingobject exists in. Therefore, it is unnecessary to detect and analyze theposition of the moving object finely by the minute, and the device fordetecting the position of the moving object may acquire the discretepieces of positional information thereby to reduce the cost for thedevice more.

In the device of the invention, moreover, said travel distance decisionmeans is characterized by having a function to decide said predetermineddistance in terms of a rectilinear distance.

According to the invention, therefore, the predetermined distance isdecided in terms of the rectilinear distance so that the distancetraveled by the moving object is no more than the actual traveldistance. Therefore, it is possible to avoid the possibility of theexcessive accounting.

In the device of the invention, moreover, said accounting informationgeneration means is characterized by having a function to compare atravel locus, which is detected by the time said moving object hastraveled the predetermined distance, and choices of travel routesexisting in the map information providing the reference for deciding theposition of said moving object, thereby to decide that said movingobject has traveled such one of the choice of travel routes existing insaid map information as to minimize the travel distance of the movingobject.

According to the invention therefore, it is decided that the movingobject has traveled such one of the choice of travel routes existing inthe map information as to minimize the travel distance of the movingobject. Therefore, the travel distance of the moving object is no morethan the actual travel distance so that the excessive accounting cannotoccur. Moreover, the travel route is collated with the map informationso that the detection precision of the travel locus of the moving objectis improved.

In the device of the invention, moreover, said accounting informationgeneration means is characterized by having a function to compare atravel locus, which is detected by the time said moving object hastraveled the predetermined distance, and the configurations of choicesof travel routes existing in the map information providing the referencefor deciding the position of said moving object, thereby to decide whatof the choices existing in said map information said moving object hastraveled, on the basis of said comparison result.

According to the invention, therefore, it is decided that the movingobject has traveled such one of the choice traveled routes existing inthe map information as has a configuration similar to the travel locusdetected. Therefore, the travel route of the moving object and theactual travel route can be brought close to each other thereby to reducethe possibility of the excessive accounting. Moreover, the travel locusof the moving object and the travel route of the map information arecollated to improve the decision precision of the travel locus of themoving object.

In the device of the invention, moreover, said accounting informationgeneration means is characterized by having a function to decide thatsaid moving object has traveled the travel route which minimizes theaccounting resulting from the movement of said moving object.

According to the invention, therefore, it is decided that the movingobject has traveled the travel route which minimizes the accountingresulting from the movement of the moving object, thereby to reduce thepossibility of occurrence of the excessive accounting.

In the device of the invention, moreover, said accounting informationgeneration means is characterized by having a function not to performthe accounting process resulting from the movement of said movingobject, if said travel distance decision means decides that the traveldistance of said moving object is no more than the predetermineddistance.

According to the invention, therefore, in case it is decided that themoving object has not traveled the predetermined distance from thereference position, the accounting process resulting from the movementof the moving object is not made. As a result, the erroneous accountingcan be avoided.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flow chart showing one example of a position recognitionmethod and an accounting processing method of the invention.

FIG. 2 is a conceptional diagram showing one example of a positionrecognition device and an accounting processor of the invention.

FIG. 3 is an image diagram showing one example of accounting informationto be used in the flow chart of FIG. 1.

FIG. 4 is a diagram showing one example of a subroutine for correctingan accounting total in the flow chart of FIG. 1.

FIG. 5 is a conceptional diagram for explaining a process to calculatethe accounting total in the subroutine of FIG. 4.

FIG. 6 is a diagram showing another example of the subroutine forcorrecting the accounting total in the flow chart of FIG. 1.

FIG. 7 is a conceptional diagram showing another example of the positionrecognition device and the accounting processor of the invention.

FIG. 8 is a flow chart showing another example of the positionrecognition method and the accounting processing method of theinvention.

FIG. 9 is an image diagram showing one example of accounting informationto be used in the flow chart of FIG. 8.

FIG. 10 is a conceptional diagram showing another example of theposition recognition device and the accounting device of the invention.

FIG. 11 is a flow chart showing another example of the positionrecognition method and the accounting processing method of theinvention.

FIG. 12 is an image diagram showing one example of accountinginformation to be used in the flow chart of FIG. 11.

BEST MODE FOR CARRYING OUT THE INVENTION

The invention will be described with reference to the drawings. FIG. 2is a conceptional diagram showing an automatic accounting system 1, towhich the invention is applied. This automatic accounting system 1 isconstructed to include: a vehicle 2 for traveling on the earth; aplurality of (e.g., four) artificial satellites 3 for orbiting aroundthe earth; and an integrated center 4 set on the earth. The integratedcenter 4 is provided with an accounting information database 7 and a(not-shown) communication antenna.

On the vehicle 2, there are mounted a on-vehicle control unit 5, a GPSreceiver 6, an accounting information database 30, an IC card reader 8,a ground wave communication unit 9, a display unit 10, an operation unit11 and a prime mover 12. The on-vehicle control unit 5 controls thevarious vehicle conditions including the run (or movement) and stop ofthe vehicle 2. This on-vehicle control unit 5 is constructed of amicrocomputer, which is composed mainly of a central processing unit(CPU), a memory unit (RAM and ROM) and an input/output interface. And,mutual communications are made between the on-vehicle control unit 5,and the GPS receiver 6, the accounting information database 30, the ICcard reader 8, the ground wave communication unit 9, the display unit10, the operation unit 11 and the prime mover 12.

To the on-vehicle control unit 5, therefore, there is inputted at leastone of the information owned by the accounting information database 7and the information owned by the accounting information database 30 Theinformation owned by the accounting information database 7 and theinformation owned by the accounting information database 30 may beidentical or different. While the accounting information is beingupdated, the on-vehicle control unit 5 makes an accounting process onthe basis of the latest accounting information. Here will be describedthe construction other than that of the on-vehicle control unit 5.

A GPS antenna 13 is connected with the aforementioned GPS receiver 6 sothat it receives the electric waves transmitted from the artificialsatellites 3. The signals received by the GPS antenna 13 are fed throughthe GPS receiver 6 to the on-vehicle control unit 5. An IC card 14 to beapplied to the IC card reader 8 is stored with information such as atoll balance. The ground wave communication unit 9 is provided with aground wave antenna 15, which make mutual communications with theintegrated center 4. The display unit 10 is a device for displaying oroutputting the accounting information on the basis of the operation ofthe operation unit 11. This display unit 10 is exemplified not only by aunit such as a liquid crystal unit or CRT for indicating the informationon a display but also by a unit such as a speaker for outputting theinformation in a voice.

The operation unit 11 is a device, which is operated when theinformation such as the accounting information is to be called up orwhen the various kinds of information are to be selected. When theoperation unit 11 is operated, the accounting information is outputtedfrom or displayed in the display unit 10. Wheels 16 are connected to theoutput side of the aforementioned prime mover 12 through a (not-shown)power transmission device so that the vehicle 2 runs when the power (ortorque) of the prime mover 12 is transmitted to the wheels 16. Here willbe described the corresponding relations between the construction ofFIG. 2 and the construction of the invention. The automatic accountingsystem 1 corresponds to the position recognition device and theaccounting processor of the invention; the vehicle 2 corresponds to amoving object of the invention; the on-vehicle control unit 5, the GPSreceiver 6, the accounting information databases 7 and 30 and the GPSantenna 13 correspond to a travel distance decider and a zone decider ofthe invention; and the on-vehicle control unit 5 corresponds to acontroller of the invention.

Next, a control example of the automatic accounting system 1 shown inFIG. 2 will be described with reference to FIG. 1 and FIG. 3. FIG. 1shows a flow chart, and FIG. 3 shows an accounting zone map MA. Thisaccounting zone map MA is a portion of the accounting information ownedby the accounting information databases 7 and 30. In FIG. 3, anaccounting zone A1 and an accounting zone A2 are defined by a zoneborderline A3.

First of all, when the vehicle 2 exists in the accounting zone A1 ofFIG. 3, it is decided (at Step S1) whether or not a positioning has beenmade using the GPS. The positioning using the GPS means that “theposition (or positioning point) of the vehicle 2 is decided by receivingthe signals of the artificial satellites 3 through the GPS antenna 13and by processing the received signals in the on-vehicle control unit5”. If the answer of Step S1 is NO, the routine is returned. If theanswer of Step S1 is YES, on the contrary, the positioning pointdetected at Step S1 is set as a positioning point P2. Next, it isdecided (at Step S2) whether or not a positioning point P1 has alreadybeen set before the positioning point P2 is set.

If the answer of Step S2 is NO, the positioning point P2 is reset as thepositioning point P1 (at Step S3), and the routine is returned. If theanswer of Step S2 is YES, there is determined (at Step S4) a rectilineardistance D between the positioning point P1 and the positioning pointP2. Next, it is decided (at Step S5) whether or not the rectilineardistance D exceeds a predetermined distance DX. Here, the predetermineddistance DX is exemplified by either a value equivalent to a positioningprecision, as estimated from several conditions of positioning (e.g.,the array of the artificial satellites 3) at the GPS positioning time,or a value equivalent to a mileage when the toll is added in proportionas mileages in the accounting zone A1.

If the rectilinear distance D is less than the predetermined distanceDX, as shown in the upper column of FIG. 3, the answer of Step S5 is NO,and the routine is returned. If the rectilinear distance D is more thanthe predetermined distance DX, as shown in the middle or lower column ofFIG. 3, the answer of Step S5 is YES, and it is decided (at Step S6)whether or not the zone borderline A3 has existed in the straight routefrom the positioning point P1 to the positioning point P2.

Here, if the zone borderline A3 does not exist in the straight routefrom the positioning point P1 to the positioning point P2, as shown inthe middle column of FIG. 3, the vehicle 2 is continuously traveling inthe accounting zone A1. Therefore, the answer of Step S6 is NO, and therectilinear distance D is added to the mileage in the accounting zone A1(at Step S7). Subsequent to this Step S7, the process to charge thetoll, that is, the mileage accounting process is done (at Step S8) onthe basis of the mileage of the vehicle 2 in the accounting zone A1.After Step S8, the aforementioned positioning point P2 is set as thepositioning point P1 (at Step S3), the routine is returned.

On the other hand, if the zone borderline A3 resides in the straightroute from the positioning point P1 to the positioning point P2 at thedecision of Step S6, as shown in the lower column of FIG. 3, the answerof Step S6 is YES. And: an intersection A5 between a segment A4 joiningthe positioning point P1 and the positioning point P2 and the zoneborderline A3 is determined; the distance D1 between the positioningpoint P1 and the intersection A5 is determined; and the distance D2between the positioning point P2 and the intersection A5 is determined(at Step S9).

Subsequent to Step S9, it is decided (at Step S10) whether or not thedistance D1 is less than the predetermined distance DX. Thepredetermined distance DX to be used at Step S10 may be equal to that DXused in the decision of Step S5. If the answer of Step S10 is NO, thepositioning point P1 is sufficiently distant from the zone borderlineA3, and possibility of occurring an erroneous zone accounting is ratherscarcely, so that the accounting process at the accounting zone A1 isexecuted (at Step S11).

If the answer of Step S10 is YES, on the other hand, the positioningpoint P is very close to the zone borderline A3. If the precision fordeciding the zone where the vehicle 2 exists, therefore, an erroneousaccounting may be generated. It is, therefore, necessary to make aprecise decision on “which of the accounting zone A1 or A2 the vehicle 2exists in”. It is, therefore, decided (at Step S10A) whether or not thedistance D2 exceeds the predetermined distance DX. The predetermineddistance DX used at this Step S10A may be equal to that DX used in thedecision of Step S5. If the answer of Step S10A is YES, it is apparentthat the positioning point P2 exists at a position apart a long distancefrom the zone borderline A3, i.e., in the accounting zone A2. In thiscase, concerning zone accounting, possibility of occurring an erroneouszone accounting is rather scarcely, so that the routine advances to StepS11, at which the accounting process at zone A2 is executed.

If the answer of Step S10A is NO, on the contrary, the positioning pointP1 and the positioning point P2 are so close to the zone borderline A3and there is a possibility to decide “which of the accounting zone A1 orA2 the vehicle 2 exists in” inaccurately. Therefore, if the answer ofStep S10A is NO, therefore, the routine is returned without any action.

Subsequent to Step S11, the aforementioned distance D1 is added to themileage in the accounting zone A1, and the aforementioned distance D2 isadded to the mileage in the accounting zone A2 (at Step S12). On thebasis of the addition results of Step S12, moreover, mileage accountingprocesses are executed separately for the accounting zone A1 and theaccounting zone A2 (at Step S13).

Subsequent to Step S13, the aforementioned positioning point P2 is setas the positioning point P1 in the accounting zone A2 (at Step S14), andthe routine is returned. Here in FIG. 1, the mileage accountingprocesses of Steps S8 and S13 and the zone accounting processes of StepS1 are executed by transmitting/receiving the electric waves between thevehicle 2 and the integrated center 4, and their accounting results areinputted to the IC card 14.

According to the control example of FIG. 1, as has been describedhereinbefore, neither “the decision on what accounting zone the vehicle2 exists in” nor “the zone accounting process based on that decisionresult” is done within a predetermined distance where the vehicle 2 maypossibly make an error in the position detection. Therefore, it ispossible to improve the precision in the decision on what accountingzone the vehicle 2 exists in, and to prevent the erroneous accountingfrom be generated. Moreover, the accounting information data need not beprovided in the boundary between the accounting zones with a buffer zonefor absorbing the error in the position detection of the vehicle 2. Itis further possible to reduce the amount of data necessary for theaccounting process and the amount of the operation. It is, therefore,possible to reduce the size of the automatic accounting system 1 and tolower the manufacture cost. Moreover, it is possible to speed up theaccounting process.

In short, according to the control example of FIG. 1, the zone where thevehicle 2 exists can be decided by the automatic accounting system 1shown in FIG. 2, that is, a device for acquiring the discrete pieces ofpositional information. Thus, the device for acquiring the discretepieces of positional information can be called “the position recognitiondevice” or “the accounting processor” using the radio navigation.

In other words, in the control example of FIG. 1, a second device of akind different from that of a first device need not make the decision ofthe zone where the vehicle 2 exists and the accounting process based onthe zone where the vehicle 2 has been decided to exist in. This seconddevice is a device for detecting the traveling direction and the mileageof the vehicle on the basis of a device mounted on the vehicle, such asa sensor, e.g., an earth magnetic sensor, a wheel speed sensor or agyro, thereby to recognize the position of the vehicle and perform theaccounting process on the basis of the detection result. This seconddevice can be called “the position recognition device” or “theaccounting processor” using the dead-reckoning navigation.

According to the control example of FIG. 1, moreover, it is unnecessaryto make the various kinds of controls based on the aforementioneddead-reckoning navigation, such as a control for detecting the positionof the vehicle, a control for collating the detected position of thevehicle and electronized map data, or a control for matching thedetected vehicle position and the roads of the map data sequentially(i.e., the map matching control). Therefore, it is possible to makesimpler the device to be mounted on the vehicle 2 and the operation toexecute accounting processes.

Moreover, the travel distance of the vehicle 2 is decided in terms ofthe rectilinear distance so that the distance traveled by the vehicle 2is shorter than the actual travel distance. Therefore, it is possible toavoid the possibility of the over-accounting more reliably.

Here will be described the corresponding relations between theconstruction of this embodiment and the construction of the invention.At first, the control contents having been described with reference tothe flow chart of FIG. 1 correspond to the position recognition methodand the accounting processing method of the invention. Moreover: Step S1to Step S5 shown in FIG. 1 correspond to a travel distance decision stepof the invention; Step S6 corresponds to a zone decision step of theinvention; and Step S6 and Step S9 to Step S14 correspond to anaccounting information generation step of the invention. Moreover: StepS1 to Step S5 correspond to travel distance decision means of theinvention; Step S6 corresponds to zone decision means of the invention;and Step S6 and Step S9 to Step S14 correspond to accounting informationgeneration means of the invention. Moreover, the accounting zones A1 andA2 shown in FIG. 3 correspond to the zones of the invention.

Next, one example of a subroutine for the control of FIG. 1 to adjustthe accounting contents of Step S11 to Step S13 on the basis of thenumber of zone borderlines existing between the positioning point P1 andthe positioning point P2 will be described with reference of the flowchart of FIG. 4 and an accounting image diagram M2 of FIG. 5. Theaccounting image diagram M2 of FIG. 5 is a portion of the accountinginformation which is owned by the aforementioned accounting informationdatabases 7 and 30.

In the flow chart of FIG. 4, it is decided at first (at Step S21)whether or not two or more zone borderlines have existed between theaforementioned positioning point P1 and positioning point P2. Here forone zone borderline, the zone accounting sum is equal no matter whattravel route the vehicle 2 should pass through from a predeterminedaccounting zone to another. In other words, the zone accounting sum hasno changing possibility for every travel routes so that the routine isreturned without any action.

If the answer of Step S21 is YES, on the contrary, the accounting totalT0 of the case, in which the vehicle 2 has moved straight between thepositioning point P1 and the positioning point P2, is determined (atStep S22). In the example of FIG. 5: an accounting zone A6 to anaccounting zone A8 are shown; a zone borderline B3 exists between theaccounting zone A6 and the accounting zone A7; a zone borderline B2exists between the accounting zone A7 and the accounting zone A8; and azone borderline BI exists between the accounting zone A6 and theaccounting zone A8. If the vehicle 2 moves straight in FIG. 5 betweenthe positioning point P1 and the positioning point P2, therefore, thetotal of the zone accounting in the accounting zones A6, A8 and A7 andthe mileage accounting in the accounting zones A6, A8 and A7 is theaccounting total T0.

Next, there is set (at Step S23) a segment L, which bisects a segment A9joining the positioning point P1 and the positioning point P2 and whichis orthogonal to the segment A9. Moreover, a point MO is set (at StepS24) at a position, which is at a predetermined distance in onedirection along the segment L from an intersection M between the segmentA9 and the segment L. In the example of FIG. 5, the point MO is set inthe accounting zone A8. Next, there is set a travel route (at Step S25),which extends from the positioning point P1 via the point MO to thepositioning point P2, and there is calculated (at Step S26) anaccounting total T of the case in which the vehicle 2 has passed throughthe travel route set at Step S25.

Next, it is decided (at Step S27) whether or not the accounting total Tis less than the accounting total T0. If the answer of Step S27 is YES,the accounting total T is substituted for the accounting total T0 (atStep S28), and the routine advances to Step S29. If the answer of StepS27 is NO, on the other hand, the routine advances to Step S29 withoutany action. At Step S29, there is set the (not-shown) middle point, atwhich the intersection M is moved along the segment L toward a point M1spaced at a predetermined distance opposite direction of the point MO.Here, the distance between the intersection M and the point MO and thedistance between the intersection M and the point M1 are equal.

Moreover, it is decided (at Step S30) whether or not the middle pointhas arrived at the point M1. If the answer of Step S30 is NO, theroutine is returned to Step S25. Like before, more specifically, thereare repeated the operations to set the travel route from the positioningpoint P1 via the middle point to the positioning point P2, to calculatethe accounting total T on the travel route, to compare the accountingtotal T and the accounting total T0, to set the accounting total T0 onthe basis of the comparison result, and to move the middle point towardthe point M1. Thus, if the answer of Step S30 is YES, the minimum of theaccounting totals determined at the foregoing individual steps is fixedas the accounting total T0 (at Step S31), and the routine is returned.

In another process, although not especially shown, a true circlecontaining the positioning point P1 and the positioning point P2 is setto displace the middle point along the circumference of that truecircle, and the accounting totals are calculated for every travel routesfrom the positioning point P1 via the individual middle points to thepositioning point 3, so that the minimum of those accounting totals canbe fixed as the accounting total. In still another process, although notespecially shown, the individual accounting totals are calculated forall the travel routes of a predetermined range containing thepositioning point P1 and the positioning point P2 in the accountingimage diagram, so that the minimum of those accounting totals can befixed as the accounting total. Thus, the control contents having beendescribed with reference with the flow chart shown in FIG. 4 alsocorrespond to the position recognition method and the accountingprocessing method of the invention. Moreover, Step S21 to Step S31 shownin FIG. 4 correspond to the accounting information generation step ofthe invention. Moreover, Step S21 to Step S31 correspond to theaccounting information generation means of the invention. Moreover: theaccounting image diagram M2 of FIG. 5 corresponds the map information ofthe invention; the accounting zone A6 to the accounting zone A8 shown inFIG. 5 corresponds to the zone of the invention; and the travel routehaving been described with reference to the flow chart of FIG. 4corresponds to the travel route of the invention.

FIG. 6 is a flow chart showing another example of the subroutine foradjusting the accounting contents of Steps S11 to 13 of FIG. 1. At firstin FIG. 6, it is decided (at Step S41) whether or not two or more travelroutes have been searched as the route from the positioning point P1 tothe positioning point P2. If the answer of Step S41 is NO, theaccounting process cannot be made to reduce the accounting total so thatthe routine is returned.

If the answer of Step S41 is YES, on the contrary, the accounting totals(T1 to Tn) are calculated (at Step S42) individually for all the travelroutes which were sought in the accounting image diagram of FIG. 5. Itis then decided (at Step S43) that the vehicle 2 has traveled on thetravel route which takes the minimum of the accounting totals calculatedat Step S42, and the routine is returned. Here will be described thecorresponding relations between the control contents shown in FIG. 6 andthe construction of the invention. Step S41 to Step S43 correspond tothe accounting information generation step. Moreover, Step S41 to StepS43 correspond to the accounting information generation means of theinvention. Moreover, the travel route having been described withreference to the flow chart of FIG. 6 corresponds to the travel route ofthe invention.

Thus for the zone accounting process and the mileage accounting processon the basis of the controls of FIG. 1, the accounting process is doneby using the control of FIG. 4 or the control of FIG. 6 while decidingthat the vehicle 2 has traveled on such a travel route as has theminimum accounting total, so that the possibility for the erroneousaccounting or the excessive accounting can be more reducedadvantageously for the user.

Next, another construction example of the automatic accounting system 1will be described with reference to FIG. 7. In FIG. 7, a constructionsimilar to that of FIG. 2 will be omitted on its description bydesignating it by the common reference numerals. In the positionrecognition device of FIG. 7, the vehicle 2 is provided with a road mapdatabase 17. Moreover, signal communications are made not only betweenthe GPS receiver 6/the road map database 17 and a position collationunit 18 but also between the position collation unit 18 and theon-vehicle control unit 5. This position collation unit 18 is of thewell-known type having the (not-shown) storage unit, the (not-shown)comparator and the (not-shown) input/output interface. The road mapdatabase 17 includes an information recording medium such as themagnetic disk or the optical disk, which is stored with the digitizedroad map of the available zone for the vehicle 2 to travel in. Moreover,the position collation unit 18 is provided with a function to collatethe positional information of the vehicle based on the signals of theGPS receiver 6 and the road information of the road map database 17.

The aforementioned artificial satellites 3, GPS antenna 13, GPS receiver6, road map database 17 and position collation unit 18 and so onconstruct the well-known navigation system. Here will be described thecorresponding relations between the construction of FIG. 7 and theconstruction of the invention. The road map database 17 and the positioncollation unit 18 correspond to the travel distance decider and the zonedecider of the invention. Here, the corresponding relations between theremaining construction of FIG. 7 and the construction of the inventionare identical to those between the construction of FIG. 2 and theconstruction of the invention.

Next, a control example of the automatic accounting system 1 shown inFIG. 7 will be described with reference to the flow chart of FIG. 8 anda road map M3 of FIG. 9. The road map M3 is stored in the road mapdatabase 17 and contains the roads themselves and the accountinginformation. In FIG. 9, the accounting zone A1 and the accounting zoneA2 are defined by the zone borderline A9. The contents of Step S51 ofFIG. 8 are identical to those of Step S1 of FIG. 1, and the routine isreturned if the answer of Step S51 is NO. If the answer of Step S51 isYES, the routine advances to Step S52. The contents of Step S52 areidentical to those of Step S2 of FIG. 1, and the routine is returnedthrough Step S53 if the answer of Step S52 is NO. The contents of StepS53 are identical to those of Step S3 of FIG. 1.

If the answer of Step S52 is YES, the routine advances to Step S54. Thecontents of Step S54 are identical to those of Step S4 of FIG. 1. Theroutine advances to Step S55 over Step S54. The contents of Step S55 areidentical to those of Step S5 of FIG. 1. If the answer of Step S55 isNO, the routine is returned without any action. If the answer of StepS55 is YES, the road map M3 and a travel locus A14 from the positioningpoint P1 to the positioning point P2 are collated, and the shortest oneA10 of the travel routes from the positioning point P1 to thepositioning point P2 is searched (at Step S56) in the road map M3.

Subsequent to Step S56, the extension total (or total length) L1 of thetravel route A10 is calculated (at Step S57). Subsequent to Step S57, itis decided (at Step S58) whether or not the zone borderline A9 hasexisted while the vehicle 2 is moving along the travel route A10 fromthe positioning point P1 to the positioning point P2. If the answer ofStep S58 is NO, the extension total L1 is added to the mileage in theaccounting zone A1 (at Step S59). Subsequent to Step S59, the mileageaccounting process in the accounting zone A1 is done (at Step S60), andthe routine advances to Step S53.

If the answer of Step S58 is YES, on the contrary, the routine advancesthrough Step S61 to Step S62. The contents of Step S61 are identical tothose of Step S11 of FIG. 1. At Step S62, of the travel route A10searched at Step S56, there are calculated (at Step S62) a mileage L2 inthe accounting zone A1 and a mileage L3 in the accounting zone A2.Subsequent to Step S62, a mileage accounting process corresponding tothe calculation result of Step S62 is done (at Step S63), and theroutine is returned through Step S64. The contents of Step S64 areidentical to those of Step S14 of FIG. 1.

According to the control example of FIG. 8, as has been describedhereinbefore, effects similar to those of the control example of FIG. 1are obtained for reasons similar to those of the control example ofFIG. 1. In the control example of FIG. 8, moreover, the positionalinformation by the navigation system, and the map information and theaccounting information of the road map database 17 are collated tosearch the travel route of the vehicle 2, so that the mileage of thevehicle 2 can be highly precisely detected to improve the precision inthe mileage accounting.

Moreover, the control contents of Step S55 of FIG. 8 can be modifiedinto “other control contents”. These other control contents mean thosefor searching such a travel route as to minimize the accounting total ofthe zone accounting and the mileage accounting from the positioningpoint P1 to the positioning point P2. When the other control contentsare thus used, the sums of accountings to be made at Step S60, Step S61and Step S63 can be reduced advantageously for the user.

Here will be described the corresponding relations between thefunctional means shown in FIG. 8 and the construction of the invention.Step S51 to Step S55 correspond to the travel distance decision step ofthe invention; Step S58 corresponds to the zone decision step; and StepS56, Step S57, and Step S61 to Step S63 correspond to the accountinginformation generation step of the invention. Moreover: Step S51 to StepS55 correspond to the travel distance decision means of the invention;Step S58 corresponds to the zone decision means of the invention; andStep S56, Step S57, and Step S61 to Step S63 correspond to theaccounting information generation means of the invention. Moreover, thetravel route having been described with reference to the flow chart ofFIG. 8 corresponds to the travel route of the invention. Moreover, theroad map M3 shown in FIG. 9 corresponds to the map information of theinvention.

FIG. 10 is a conceptional diagram showing another construction ofanother automatic accounting system 1 of the invention. In FIG. 10, aconstruction identical to those of FIG. 2 and FIG. 7 will be omitted onits description by designating it by the same reference numerals asthose of FIG. 2 and FIG. 7. In the automatic accounting system 1 of FIG.10, a dead-reckoning navigation unit 19 is connected in a signalcommunicating manner with the position collation unit 18. Thisdead-reckoning navigation unit 19 is constructed of a well-known elementsuch as the gyro compass (not-shown), the earth magnetic sensor(not-shown), the wheel speed sensor (not-shown), the acceleration sensor(not-shown) or the steering angle sensor (not-shown). Specifically, thedead-reckoning navigation unit 19 is provided for detecting signalsrelating to the traveling direction (or azimuth) and the travel distance(or the mileage) of the vehicle 2 in the horizontal plane on the roadmap. In the corresponding relations between the construction of FIG. 10and the invention, the dead-reckoning navigation unit 19 corresponds toa covered distance decider of the invention. The corresponding relationsbetween the remaining construction of FIG. 10 and the construction ofthe invention are identical to those between the constructions of FIG. 2and FIG. 7 and the construction of the invention.

Next, a control example by the automatic accounting system 1 shown inFIG. 10 will be described with reference to a flow chart of FIG. 11 anda road map M4 of FIG. 12. The road map M4 of FIG. 12 forms part of theinformation owned by the road map database 17 and contains the roadinformation and the accounting information. In FIG. 12, the accountingzone A1 and the accounting zone A2 are defined by a zone borderline A11.

In the flow chart of FIG. 11, on the basis of the detection signalsobtained by the dead-reckoning navigation unit 19, the travel locus ofthe vehicle 2 is decided and is stored (at Step S71). Subsequent to StepS71, the routine advances to Step S72. The contents of Step S72 areidentical to those of Step S1 of FIG. 1, and the routine is returned ifthe answer of Step S72 is NO. If the answer of Step S72 is YES, theroutine advances to Step S73. The contents of Step S73 are identical tothose of Step S2 of FIG. 1, and the routine is returned through Step S74if the answer of Step S73 is NO. At Step S74, the positioning point P2is set as the positioning point P1, and the travel locus of the vehicle2 stored at Step S71 is erased.

If the answer of Step S73 is YES, the routine advances to Step S75. Thecontents of Step S75 are identical to those of Step S4 of FIG. 1.Subsequent to Step S75, the routine advances to Step S76. The contentsof Step S76 are identical to those of Step S5 of FIG. 1. If the answerof Step S76 is NO, the routine is returned without any action. If theanswer of Step S76 is YES, the travel locus between the positioningpoint P1 and the positioning point P2 according to the dead-reckoningnavigation and the information of the road map database 17 are comparedto search the travel locus of the vehicle 2 on the road map (at StepS77).

The contents of Step S77 will be specified in the following. A travellocus A12, which is decided in terms of the pieces of information suchas the distance between intersections for the vehicle 2 to turn to theright or left, the turning angle of the traveling direction of thevehicle 2 or the turning radius of the vehicle, is collated with theplane shapes of roads in the road map M4. It is decided that the vehicle2 has traveled a travel route A13, which is formed of a configurationsimilar to the travel locus. At Step 77, the configuration of the travelroute is decided on the basis of the data digitized from the roadinformation, such as a link sequence or a node sequence. The control forcollating the travel locus A12 and the plane configuration of the roadsis called “the pattern matching”.

Subsequent to Step S77, the extension total (or total length) L1 of thetravel route A13 is calculated (at Step S78). Subsequent to Step S78, itis decided (at Step S79) whether or not the zone borderline A11 hasexisted while the vehicle 2 is moving along the travel route A13 fromthe positioning point P1 to the positioning point P2. If the answer ofStep S79 is NO, the extension total L1 is added (at Step S80) to themileage in the accounting zone A1. Subsequent to Step S80, the mileageaccounting in the accounting zone A1 is made (at Step S81), and theroutine advances to Step S74.

If the answer of Step S79 is YES, on the contrary, the routine advancesthrough Step S82 to Step S83. The contents of Step S82 are identical tothose of Step S11 of FIG. 1. At Step S83, a mileage L4 in the accountingzone A1 and a mileage L5 in the accounting zone A2 are calculated forthe travel route A13 searched at Step S77. Subsequent to Step S83, amileage accounting corresponding to the calculated result of Step S83 ismade (at Step S84), and the routine is returned through Step S86. AtStep S85, the positioning point P2 is set as the positioning point P1,and the travel locus of the vehicle 2, as detected by the dead-reckoningnavigation unit 19, is erased. In short, it is prepared to detect thetravel locus of the vehicle 2 by the dead-reckoning navigation withreference to the new positioning point P1.

According to the control example of FIG. 11, as has been describedhereinbefore, effects similar to those of the control example of FIG. 1are obtained for reasons similar to those of the control example ofFIG. 1. In the control example of FIG. 11, moreover, the positionalinformation by the GPS system, and the information of the road mapdatabase 17 are collated to search the travel route A13 of the vehicle2, so that the travel route and the mileage of the vehicle 2 can behighly precisely detected to improve the precision in the zoneaccounting and in the mileage accounting while eliminating the erroneousaccounting and the excessive accounting. Here in case the automaticaccounting system 1 of FIG. 9 and the automatic accounting system 1 ofFIG. 10 are compared, the automatic accounting system 1 of FIG. 10raises the cost for the dead-reckoning navigation unit 19, when mountedon the vehicle. However, the accounting can be made by searching thesubstantially actual travel route so that its fairness is more improved.

In case the control of Step S77 of FIG. 11 has searched a plurality ofchoices for the travel route, on the other hand, it is also possible tosearch the travel route that minimizes the accounting total of the zoneaccounting and the mileage accounting from the positioning point P1 tothe positioning point P2. With this construction, the sum of theaccountings of Step S81, Step S82 and Step S84 can be reducedadvantageously for the user.

The control contents thus far described with reference to the flow chartof FIG. 11 correspond to the position recognition method and theaccounting method of the invention. Moreover: Step S71 to Step S76 shownin FIG. 11 correspond to the travel distance decision step of theinvention; Step S79 corresponds to the zone decision step of theinvention; and Step S77, Step S78 and Step S82 to Step S84 correspond tothe accounting information generation step of the invention. Moreover:Step S71 to Step S76 shown in FIG. 11 correspond to the travel distancedecision means of the invention; Step S79 corresponds to the zonedecision means of the invention; and Step S77, Step S78 and Step S82 toStep S84 correspond to the accounting information generation means ofthe invention. Moreover, the travel route described in FIG. 11corresponds to the travel route, and the travel locus corresponds to thetravel locus of the invention. Moreover, the road map M4 of FIG. 12corresponds to the map information of the invention. Here, theaforementioned individual control examples have been described on thecase, in which whether or not a zone borderline is set to exist isdetected between an accounting zone and an accounting zone. However, itis also possible to make a control to detect whether or not the zoneborderline exists between the accounting zones.

In the aforementioned individual control examples, the accountinginformation may be acquired from either the accounting informationdatabase 7 or the accounting information database 30. In the individualcontrol examples, moreover, it is decided whether or not the vehicle hastraveled the predetermined distance corresponding to the detection errorin the position of the vehicle, as obtained by the radio navigation, sothat the zone where the vehicle exists is decided on the basis of thatdecision result. However, it can also be decided whether or not thevehicle has traveled the predetermined distance corresponding to thedetection error in the position of the vehicle, as obtained by theself-contained navigation, thereby to decide the vehicle existing zoneon the basis of the decision result. Even in case this construction isadopted, it is possible to reduce the quantity of data and to simplifythe operations too without forming any buffer zone in the boundarybetween the zones.

In the invention, “the moving object” means a movable object, hence itdoes not matter whether or not “the moving object” moves at all times.In the invention, moreover, the movement of the moving object includesthe case, in which the moving object moves by its own kinetic energy orpotential energy, and the case in which the moving object moves by anexternal force applied thereto. In the invention, moreover, “the movingobject” is exemplified by a vehicle, a motorbike, a bicycle with amotor, a bicycle, a human being or an animal. In the invention,moreover, the sentence “a system including a covered distance judger, azone judger, an accounting information generator and a controller ismounted on the moving object” is exemplified by first and second cases.In the first case, the aforementioned system has already been mounted onor attached to the moving object. In the second case, on the other hand,the aforementioned system is not mounted on the moving object yet, butcan be mounted on or attached to the moving object. Here in case themoving object is the aforementioned human being or animal, the sentence“the human being or animal holds the system by using an accessory or thelike” corresponds to the construction “the system is mounted on themoving object” in the invention.

In the invention, moreover, “the zone” means such a global space, e.g.,on the ground, in the air, in the sea or in the ground that the movingobject can move therein. In the invention, moreover, “the predetermineddistance” means a straight distance in the global space from a referenceposition (or positioning point) to another position (or positioningpoint). In the invention, moreover, “the predetermined distanceaffecting the precision in the accounting information” is exemplified bythe distance corresponding to the detection error of the position of themoving object or by the distance, at which the moving object is chargedwith the toll for each coverage. In the invention, moreover, theterminology “position” is used to mean the “occupied place” or “exist”.For example, the phrase “the zone where the moving object takes aposition” means “the zone where the moving object exists”, and thephrase “the position of the moving object” means “the place occupied bythe moving object”. From these meanings, “the position recognitiondevice” of the invention can also be expressed by “the existence zonedecision device of the moving object” or “the existence zone decisionmethod of the moving object”. Moreover, “the position recognitionmethod” can be expressed further by “the existence zone decision deviceof the moving object” or “the existence zone decision method of themoving object”.

INDUSTRIAL APPLICABILITY

The present invention relates to a device and a method for deciding thezone where a moving object exists. If the vehicle, the motorbike or thebicycle with the motor is selected as the moving object, therefore, theinvention can be utilized in the industrial field for road managementsand for traffic managements. The invention can be utilized especially inthe industrial field where “the accounting” is made for charging thetoll on the basis of the zone where the moving object exists.

1. An accounting system configured to decide a zone where a movingobject takes a position, thereby to generate accounting information onthe basis of the decision result, the accounting system comprising: acontroller configured for: determining a travel distance of the movingobject between a first point and a second point on a travel route of themoving object; comparing the determined travel distance to apredetermined distance; and determining whether a travel distance of themoving object exceeds the predetermined distance, wherein: when thetravel distance of the moving object is determined to have exceeded thepredetermined distance, the controller is configured to determine anexistence of a zone borderline between different accounting zones in thetravel route of the moving object; when it is determined that the zoneborderline exists in the travel route of the moving object, thecontroller is configured to determine a first distance from the firstpoint to the zone borderline and a second distance from the zoneborderline to the second point; when the determined first distanceexceeds the predetermined distance, the controller is configured toexecute an accounting process to generate the accounting informationbased on the determined first distance; when the determined seconddistance exceeds the predetermined distance, the controller isconfigured to execute an accounting process to generate the accountinginformation based on the determined second distance; and the controlleris configured not to perform the accounting resulting from the movementof the moving object, when the controller decides that the traveldistance of the moving object is no more than the predetermineddistance; and a communication unit configured to send the accountinginformation to an accounting station.
 2. An accounting system as setforth in claim 1, wherein the controller is configured to decide thepredetermined distance in terms of a rectilinear distance.
 3. Anaccounting system as set forth in claim 1, wherein the controller isconfigured to compare a travel locus, which is detected by a time themoving object has traveled the predetermined distance, and choices ofthe travel routes existing in map information providing a reference fordeciding the position of the moving object, thereby to decide that themoving object has traveled such one of a choice of travel routesexisting in the map information as to minimize the travel distance ofthe moving object.
 4. An accounting system as set forth in claim 1,wherein the controller is configured to compare a travel locus, which isdetected by a time the moving object has traveled the predetermineddistance, and a configurations of choices of travel routes existing inmap information providing a reference for deciding the position of themoving object, thereby to decide what choices existing in the mapinformation the moving object has traveled, on the basis of thecomparison result.
 5. An accounting system as set forth in claim 1,wherein the controller is configured to decide that the moving objecthas traveled the travel route which minimizes the accounting resultingfrom the movement of the moving object.
 6. An accounting system as setforth in claim 1, wherein the controller is mounted on the movingobject.
 7. An accounting processing method for deciding a zone where amoving object takes a position, thereby to generate accountinginformation on the basis of the decision result, a controller performingthe accounting processing method comprising the steps of: a.)determining a travel distance of the moving object between a first pointand a second point on a travel route of the moving object by acontroller; b.) comparing the determined travel distance to apredetermined distance by the controller; c.) determining whether atravel distance of the moving object exceeds the predetermined distanceby the controller; d.) when the travel distance of the moving object isdetermined to have exceeded the predetermined distance in step (c), thecontroller is configured to determine an existence of a zone borderlinebetween different accounting zones in the travel route of the movingobject by the controller; e.) when it is determined that the zoneborderline exists in the travel route of the moving object in step (d),the controller is configured to determine a first distance from thefirst point to the zone borderline and a second distance from the zoneborderline to the second point by the controller; f.) when thedetermined first distance exceeds the predetermined distance, thecontroller is configured to execute an accounting process to generateaccounting information based on the determined first distance in step(e) by the controller; g.) when the determined second distance exceedsthe predetermined distance, the controller is configured to execute theaccounting process to generate accounting information based on thedetermined second distance in step (e) by the controller; and h.)sending the accounting information to an accounting station by acommunication unit, wherein the controller in steps (f) and (g) isconfigured not to perform the accounting resulting from the movement ofthe moving object, when step (c) decides that the travel distance of themoving object is no more than the predetermined distance.
 8. Anaccounting processing method as set forth in claim 7, wherein step (b)is configured to decide the predetermined distance in terms of arectilinear distance.
 9. An accounting processing method as set forth inclaim 7, wherein steps (f) and (g) are configured to compare a travellocus, which is detected by the time the moving object has traveled thepredetermined distance, and choices of travel routes existing in mapinformation providing a reference for deciding the position of themoving object, thereby to decide that the moving object has traveledsuch one of a choice of travel routes existing in the map information asto minimize the travel distance of the moving object.
 10. An accountingprocessing method as set forth in claim 7, wherein steps (f) and (g) areconfigured to compare a travel locus, which is detected by a time themoving object has traveled the predetermined distance, andconfigurations of choices of travel routes existing in a map informationproviding a reference for deciding the position of the moving object,thereby to decide what choices existing in the map information themoving object has traveled, on the basis of the comparison result. 11.An accounting processing method as set forth in claim 7, wherein steps(f) and (g) are configured to decide that the moving object has traveledthe travel route which minimizes the accounting resulting from themovement of the moving object.